RTPS writer APIs refactor (#5028)

* Refs #21082. Remove `onWriterMatched` overload. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Rename to `on_writer_matched`. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Rename to `on_writer_change_received_by_all`. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Refactor on WriterTimes. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Rename protected fields. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Add empty `BaseReader` class. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Implementation classes now inherit from `BaseWriter`. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Method `is_acked_by_all` receives sequence number. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Writer history keeps pointer to BaseReader. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Move `StatisticsWriterImpl` inheritance. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Remove dependency on `WriterPool`. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Remove unused private member. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Refactor on `FlowController`. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Refactor on `LocatorSelectorSender`. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Header `LocatorSelectorSender.hpp` made private. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Header `DeliveryRetCode.hpp` made private. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Participant keeps collection of BaseWriter. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Method `find_local_writer` returns `BaseWriter`. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Refactor `MessageReceiver`. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Add `downcast` methods. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Remove friend `DataWriterImpl`. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Remove superfluous namespacing. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Move `init` method. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Remove other friends. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Move non-exported methods to `BaseWriter`. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Move liveliness_lost update to `BaseWriter`. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Remove unused private method. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Move inline methods. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Move history query methods. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Move other members. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Separate sending is now part of `WriterAttributes`. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Snake case on public methods. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Method get_history in BaseWriter. Signed-off-by: Miguel Company <[email protected]> * Refs #21082. Fix warning without security. Signed-off-by: Miguel Company <[email protected]> * Refs #21137. Apply suggestions on WLP. Signed-off-by: Miguel Company <[email protected]> * Refs #21137. Remove unused methods from `RTPSParticipantImpl`. Signed-off-by: Miguel Company <[email protected]> * Refs #21137. Move implementations to cpp. Signed-off-by: Miguel Company <[email protected]> * Refs #21137. Method names and doxygen. Signed-off-by: Miguel Company <[email protected]> * Refs #21137. Add space between `@param` and `[` Signed-off-by: Miguel Company <[email protected]> * Refs #21137. Namespace suggestion. Signed-off-by: Miguel Company <[email protected]> * Refs #21137. Uncrustify. Signed-off-by: Miguel Company <[email protected]> * Refs #21137. Rearrange methods. Signed-off-by: Miguel Company <[email protected]> * Refs #21137. Additional rearrange of methods. Signed-off-by: Miguel Company <[email protected]> * Refs #21137. Update versions.md. Signed-off-by: Miguel Company <[email protected]> --------- Signed-off-by: Miguel Company <[email protected]>
eProsima · Jul 10, 2024 · a73448d · a73448d
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diff --git a/examples/cpp/dds/HelloWorldExampleSharedMem/HelloWorldPublisher.cpp b/examples/cpp/dds/HelloWorldExampleSharedMem/HelloWorldPublisher.cpp
@@ -92,8 +92,8 @@ bool HelloWorldPublisher::init()
     wqos.history().depth = 30;
     wqos.resource_limits().max_samples = 50;
     wqos.resource_limits().allocated_samples = 20;
-    wqos.reliable_writer_qos().times.heartbeatPeriod.seconds = 2;
-    wqos.reliable_writer_qos().times.heartbeatPeriod.nanosec = 200 * 1000 * 1000;
+    wqos.reliable_writer_qos().times.heartbeat_period.seconds = 2;
+    wqos.reliable_writer_qos().times.heartbeat_period.nanosec = 200 * 1000 * 1000;
     wqos.reliability().kind = RELIABLE_RELIABILITY_QOS;
     wqos.publish_mode().kind = ASYNCHRONOUS_PUBLISH_MODE;
 

diff --git a/examples/cpp/dds/HelloWorldExampleTCP/HelloWorldPublisher.cpp b/examples/cpp/dds/HelloWorldExampleTCP/HelloWorldPublisher.cpp
@@ -119,8 +119,8 @@ bool HelloWorldPublisher::init(
     wqos.history().depth = 30;
     wqos.resource_limits().max_samples = 50;
     wqos.resource_limits().allocated_samples = 20;
-    wqos.reliable_writer_qos().times.heartbeatPeriod.seconds = 2;
-    wqos.reliable_writer_qos().times.heartbeatPeriod.nanosec = 200 * 1000 * 1000;
+    wqos.reliable_writer_qos().times.heartbeat_period.seconds = 2;
+    wqos.reliable_writer_qos().times.heartbeat_period.nanosec = 200 * 1000 * 1000;
     wqos.reliability().kind = RELIABLE_RELIABILITY_QOS;
 
     writer_ = publisher_->create_datawriter(topic_, wqos, &listener_);

diff --git a/examples/cpp/dds/SecureHelloWorldExample/HelloWorldPublisher.cpp b/examples/cpp/dds/SecureHelloWorldExample/HelloWorldPublisher.cpp
@@ -91,8 +91,8 @@ bool HelloWorldPublisher::init()
     wqos.history().depth = 20;
     wqos.resource_limits().max_samples = 50;
     wqos.resource_limits().max_samples_per_instance = 20;
-    wqos.reliable_writer_qos().times.heartbeatPeriod.seconds = 2;
-    wqos.reliable_writer_qos().times.heartbeatPeriod.nanosec = 200 * 1000 * 1000;
+    wqos.reliable_writer_qos().times.heartbeat_period.seconds = 2;
+    wqos.reliable_writer_qos().times.heartbeat_period.nanosec = 200 * 1000 * 1000;
     writer_ = publisher_->create_datawriter(topic_, wqos, &listener_);
 
     if (writer_ == nullptr)

diff --git a/examples/cpp/rtps/Persistent/TestWriterPersistent.h b/examples/cpp/rtps/Persistent/TestWriterPersistent.h
@@ -58,9 +58,9 @@ class TestWriterPersistent
         {
         }
 
-        void onWriterMatched(
+        void on_writer_matched(
                 eprosima::fastdds::rtps::RTPSWriter*,
-                eprosima::fastdds::rtps::MatchingInfo& info) override
+                const eprosima::fastdds::rtps::MatchingInfo& info) override
         {
             if (info.status == eprosima::fastdds::rtps::MATCHED_MATCHING)
             {
@@ -70,9 +70,6 @@ class TestWriterPersistent
 
         int n_matched;
 
-    private:
-
-        using eprosima::fastdds::rtps::WriterListener::onWriterMatched;
     }
     m_listener;
 };

diff --git a/examples/cpp/rtps/Registered/TestWriterRegistered.h b/examples/cpp/rtps/Registered/TestWriterRegistered.h
@@ -57,9 +57,9 @@ class TestWriterRegistered
         {
         }
 
-        void onWriterMatched(
+        void on_writer_matched(
                 eprosima::fastdds::rtps::RTPSWriter*,
-                eprosima::fastdds::rtps::MatchingInfo& info) override
+                const eprosima::fastdds::rtps::MatchingInfo& info) override
         {
             if (info.status == eprosima::fastdds::rtps::MATCHED_MATCHING)
             {
@@ -69,9 +69,6 @@ class TestWriterRegistered
 
         int n_matched;
 
-    private:
-
-        using eprosima::fastdds::rtps::WriterListener::onWriterMatched;
     }
     m_listener;
 };

diff --git a/include/fastdds/dds/core/policy/ParameterTypes.hpp b/include/fastdds/dds/core/policy/ParameterTypes.hpp
@@ -1659,7 +1659,7 @@ class ParameterSampleIdentity_t : public Parameter_t
     /**
      * Add the parameter to a CDRMessage_t message.
      *
-     * @param[in,out] msg Pointer to the message where the parameter should be added.
+     * @param [in,out] msg Pointer to the message where the parameter should be added.
      * @return True if the parameter was correctly added.
      */
     bool addToCDRMessage(
@@ -1668,7 +1668,7 @@ class ParameterSampleIdentity_t : public Parameter_t
     /**
      * Read the parameter from a CDRMessage_t message.
      *
-     * @param[in,out] msg Pointer to the message from where the parameter should be taken.
+     * @param [in,out] msg Pointer to the message from where the parameter should be taken.
      * @param size Size of the parameter field to read
      * @return True if the parameter was correctly taken.
      */

diff --git a/include/fastdds/dds/domain/DomainParticipant.hpp b/include/fastdds/dds/domain/DomainParticipant.hpp
@@ -680,7 +680,7 @@ class DomainParticipant : public Entity
     /**
      * Retrieves the list of DomainParticipants that have been discovered in the domain and are not "ignored".
      *
-     * @param[out] participant_handles Reference to the vector where discovered participants will be returned
+     * @param [out] participant_handles Reference to the vector where discovered participants will be returned
      * @return RETCODE_OK if everything correct, error code otherwise
      *
      * @warning Not supported yet. Currently returns RETCODE_UNSUPPORTED
@@ -691,7 +691,7 @@ class DomainParticipant : public Entity
     /**
      * Retrieves the DomainParticipant data of a discovered not ignored participant.
      *
-     * @param[out] participant_data Reference to the ParticipantBuiltinTopicData object to return the data
+     * @param [out] participant_data Reference to the ParticipantBuiltinTopicData object to return the data
      * @param participant_handle InstanceHandle of DomainParticipant to retrieve the data from
      * @return RETCODE_OK if everything correct, PRECONDITION_NOT_MET if participant does not exist
      *
@@ -704,7 +704,7 @@ class DomainParticipant : public Entity
     /**
      * Retrieves the list of topics that have been discovered in the domain and are not "ignored".
      *
-     * @param[out] topic_handles Reference to the vector where discovered topics will be returned
+     * @param [out] topic_handles Reference to the vector where discovered topics will be returned
      * @return RETCODE_OK if everything correct, error code otherwise
      *
      * @warning Not supported yet. Currently returns RETCODE_UNSUPPORTED
@@ -715,7 +715,7 @@ class DomainParticipant : public Entity
     /**
      * Retrieves the Topic data of a discovered not ignored topic.
      *
-     * @param[out] topic_data Reference to the TopicBuiltinTopicData object to return the data
+     * @param [out] topic_data Reference to the TopicBuiltinTopicData object to return the data
      * @param topic_handle InstanceHandle of Topic to retrieve the data from
      * @return RETCODE_OK if everything correct, PRECONDITION_NOT_MET if topic does not exist
      *

diff --git a/include/fastdds/dds/domain/DomainParticipantListener.hpp b/include/fastdds/dds/domain/DomainParticipantListener.hpp
@@ -63,9 +63,9 @@ class DomainParticipantListener :
      * This method is called when a new Participant is discovered, or a previously discovered participant changes
      * its QOS or is removed.
      *
-     * @param[out] participant Pointer to the Participant which discovered the remote participant.
-     * @param[out] info Remote participant information. User can take ownership of the object.
-     * @param[out] should_be_ignored Flag to indicate the library to automatically ignore the discovered Participant.
+     * @param [out] participant Pointer to the Participant which discovered the remote participant.
+     * @param [out] info Remote participant information. User can take ownership of the object.
+     * @param [out] should_be_ignored Flag to indicate the library to automatically ignore the discovered Participant.
      */
     virtual void on_participant_discovery(
             DomainParticipant* participant,
@@ -81,8 +81,8 @@ class DomainParticipantListener :
     /*!
      * This method is called when a new Participant is authenticated.
      *
-     * @param[out] participant Pointer to the authenticated Participant.
-     * @param[out] info Remote participant authentication information. User can take ownership of the object.
+     * @param [out] participant Pointer to the authenticated Participant.
+     * @param [out] info Remote participant authentication information. User can take ownership of the object.
      */
     virtual void onParticipantAuthentication(
             DomainParticipant* participant,
@@ -98,9 +98,9 @@ class DomainParticipantListener :
      * This method is called when a new DataReader is discovered, or a previously discovered DataReader changes
      * its QOS or is removed.
      *
-     * @param[out] participant Pointer to the Participant which discovered the remote DataReader.
-     * @param[out] info Remote DataReader information. User can take ownership of the object.
-     * @param[out] should_be_ignored Flag to indicate the library to automatically ignore the discovered DataReader.
+     * @param [out] participant Pointer to the Participant which discovered the remote DataReader.
+     * @param [out] info Remote DataReader information. User can take ownership of the object.
+     * @param [out] should_be_ignored Flag to indicate the library to automatically ignore the discovered DataReader.
      */
     virtual void on_data_reader_discovery(
             DomainParticipant* participant,
@@ -116,9 +116,9 @@ class DomainParticipantListener :
      * This method is called when a new DataWriter is discovered, or a previously discovered DataWriter changes
      * its QOS or is removed.
      *
-     * @param[out] participant Pointer to the Participant which discovered the remote DataWriter.
-     * @param[out] info Remote DataWriter information. User can take ownership of the object.
-     * @param[out] should_be_ignored Flag to indicate the library to automatically ignore the discovered DataWriter.
+     * @param [out] participant Pointer to the Participant which discovered the remote DataWriter.
+     * @param [out] info Remote DataWriter information. User can take ownership of the object.
+     * @param [out] should_be_ignored Flag to indicate the library to automatically ignore the discovered DataWriter.
      */
     virtual void on_data_writer_discovery(
             DomainParticipant* participant,

diff --git a/include/fastdds/dds/publisher/DataWriter.hpp b/include/fastdds/dds/publisher/DataWriter.hpp
@@ -184,7 +184,7 @@ class DataWriter : public DomainEntity
      * @brief Informs that the application will be modifying a particular instance.
      * It gives an opportunity to the middleware to pre-configure itself to improve performance.
      *
-     * @param[in] instance Sample used to get the instance's key.
+     * @param [in] instance Sample used to get the instance's key.
      * @return Handle containing the instance's key.
      * This handle could be used in successive `write` or `dispose` operations.
      * In case of error, HANDLE_NIL will be returned.
@@ -220,8 +220,8 @@ class DataWriter : public DomainEntity
      * Informs the middleware that the DataWriter is not intending to modify any more of that data instance.
      * Also indicates that the middleware can locally remove all information regarding that instance.
      *
-     * @param[in] instance Sample used to deduce instance's key in case of `handle` parameter is HANDLE_NIL.
-     * @param[in] handle Instance's key to be unregistered.
+     * @param [in] instance Sample used to deduce instance's key in case of `handle` parameter is HANDLE_NIL.
+     * @param [in] handle Instance's key to be unregistered.
      * @return Returns the operation's result.
      * If the operation finishes successfully, RETCODE_OK is returned.
      */
@@ -262,8 +262,8 @@ class DataWriter : public DomainEntity
      * data-object known to the DataWriter. If the implementation is not able to check invalid handles then the result
      * in this situation is unspecified.
      *
-     * @param[in,out] key_holder  Sample where the key fields will be returned.
-     * @param[in] handle          Handle to the instance to retrieve the key values from.
+     * @param [in,out] key_holder  Sample where the key fields will be returned.
+     * @param [in] handle          Handle to the instance to retrieve the key values from.
      *
      * @return Any of the standard return codes.
      */
@@ -278,7 +278,7 @@ class DataWriter : public DomainEntity
      * instance handle as an argument. The instance parameter is only used for the purpose of examining the fields that
      * define the key.
      *
-     * @param[in] instance Data pointer to the sample
+     * @param [in] instance Data pointer to the sample
      *
      * @return handle of the given instance
      */
@@ -318,7 +318,7 @@ class DataWriter : public DomainEntity
     /**
      * @brief Returns the offered deadline missed status
      *
-     * @param[out] status Deadline missed status struct
+     * @param [out] status Deadline missed status struct
      * @return RETCODE_OK
      */
     FASTDDS_EXPORTED_API ReturnCode_t get_offered_deadline_missed_status(
@@ -327,7 +327,7 @@ class DataWriter : public DomainEntity
     /**
      * @brief Returns the offered incompatible qos status
      *
-     * @param[out] status Offered incompatible qos status struct
+     * @param [out] status Offered incompatible qos status struct
      * @return RETCODE_OK
      */
     FASTDDS_EXPORTED_API ReturnCode_t get_offered_incompatible_qos_status(
@@ -336,7 +336,7 @@ class DataWriter : public DomainEntity
     /**
      * @brief Returns the publication matched status
      *
-     * @param[out] status publication matched status struct
+     * @param [out] status publication matched status struct
      * @return RETCODE_OK
      */
     FASTDDS_EXPORTED_API ReturnCode_t get_publication_matched_status(
@@ -412,8 +412,8 @@ class DataWriter : public DomainEntity
      * on the values of the handle parameter and the corresponding error behavior are the same specified for the
      * unregister_instance operation.
      *
-     * @param[in] data Sample used to deduce instance's key in case of `handle` parameter is HANDLE_NIL.
-     * @param[in] handle InstanceHandle of the data
+     * @param [in] data Sample used to deduce instance's key in case of `handle` parameter is HANDLE_NIL.
+     * @param [in] handle InstanceHandle of the data
      * @return RETCODE_PRECONDITION_NOT_MET if the handle introduced does not match with the one associated to the data,
      * RETCODE_OK if the data is correctly sent and RETCODE_ERROR otherwise.
      */
@@ -478,7 +478,7 @@ class DataWriter : public DomainEntity
     /**
      * @brief Retrieves in a subscription associated with the DataWriter
      *
-     * @param[out] subscription_data subscription data struct
+     * @param [out] subscription_data subscription data struct
      * @param subscription_handle InstanceHandle_t of the subscription
      * @return RETCODE_OK
      *
@@ -491,7 +491,7 @@ class DataWriter : public DomainEntity
     /**
      * @brief Fills the given vector with the InstanceHandle_t of matched DataReaders
      *
-     * @param[out] subscription_handles Vector where the InstanceHandle_t are returned
+     * @param [out] subscription_handles Vector where the InstanceHandle_t are returned
      * @return RETCODE_OK
      *
      * @warning Not supported yet. Currently returns RETCODE_UNSUPPORTED

diff --git a/include/fastdds/dds/publisher/Publisher.hpp b/include/fastdds/dds/publisher/Publisher.hpp
@@ -324,8 +324,8 @@ class Publisher : public DomainEntity
     /**
      * @brief Copies TopicQos into the corresponding DataWriterQos
      *
-     * @param[out] writer_qos
-     * @param[in] topic_qos
+     * @param [out] writer_qos
+     * @param [in] topic_qos
      * @return RETCODE_OK if successful, an error code otherwise
      *
      * @warning Not supported yet. Currently returns RETCODE_UNSUPPORTED